How should I go about asking a male friend out or telling him that I’d like to be more than friends?

I am a straight female. I’ve known this guy for a while, and I’d like to date him, but I don’t want to make things awkward. I also don’t know if he would want a relationship or just a hookup. Just for context: we’ve hung out quite a bit. Too many details to put here, but I do sense sexual tension. I’ve also met his friends many times.